def main(argv):
rclpy.init(args=argv)
arm = Arm()
# set up the approach
arm.move_to(+0.2015, +0.1000, +0.0850)
arm.open()
#capture
arm.move_to(+0.2670, +0.1400, +0.0850, accelerate=0.2)
arm.close()
time.sleep(0.5)
#raise
arm.move_to(arm.x, arm.y, 0.1000)
#celebrate
arm.move_to(+0.1943, +0.0000, +0.3000)
arm.move_joints(joint4=-0.2000, path_time=0.4)
arm.move_joints(joint4=+1.0500, path_time=0.4)
arm.move_joints(joint4=-0.2000, path_time=0.4)
arm.move_joints(joint4=+1.0500, path_time=0.4)
arm.move_joints(joint4=-0.2000, path_time=0.4)
arm.move_joints(joint4=+1.0500, path_time=0.4)
arm.move_joints(joint1=-0.9127,
joint2=+0.9802,
joint3=-1.3116,
joint4=-0.2654,
path_time=1.5)
time.sleep(2.0)
arm.move_joints(joint1=-0.3022,
joint2=-0.7409,
joint3=+0.8820,
joint4=-0.1488,
path_time=1.5)
#return to the other side
arm.move_to(+0.2670, -0.1400, +0.2000)
arm.find_surface()
# account for some slack in the arm
arm.move_to(arm.x, arm.y, arm.z + 0.0350, accelerate=0.2)
arm.move_gripper(0.0000)
arm.move_to(+0.2015, -0.1000, arm.z, accelerate=0.2)
#go to neutral
arm.move_to(+0.2200, +0.0000, +0.1000)
